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As the progress is made in vehicle dynamics analysis, tire models for vehicle dynamics analysis that are broadly applicable have been increasingly sought. Therefore, following the previous paper, the method to formulate a tire model consisting of theoretical and experimental equations, that represents, with high accuracy, the experimental characteristics of a tire, based on relatively simple theoretical equations - by obtaining the coefficients through experiments and further adding to them appropriate collections - is investigated in this paper. In the previous paper, the procedure to formulate a model that shows the changes in lateral force, driving-braking force and aligning moment, generated on a tire running at a constant velocity, due to slip angle, slip ratio, camber angle and load was presented. However, the change due to velocity was not taken into consideration.

Easy-to-use tire models for vehicle dynamics analysis have been studied at various institutions. This paper presents a tire model consisting of theoretical and experimental equations representing the experimental characteristics of tires, by employing relatively simple theoretical equations (1), (2), (3) and (4)*, obtaining their coefficients through experiments, and adding further corrections. As a result, we have obtained a model representing the change of forces and moment generating in the tire, which are caused by slip angle, slip ratio, camber angle and load. This model has many advantages including easy correspondence to physical phenomena, higher possibilities of practical development and a possibility of rational correction of the errors during experiments.